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Fix panda3d installation and example #1183

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merged 4 commits into from
Apr 25, 2020
Merged

Fix panda3d installation and example #1183

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870fb1e
[visualize] Fixed installation of panda3d
cmastalli Apr 24, 2020
1caba3a
[example] Fixed panda3d example (talos.q0 was an array defined by exa…
cmastalli Apr 24, 2020
842a254
[cleanup] Do not use np.matrix since it is deprecated
cmastalli Apr 24, 2020
142d795
python/viewer: fix import
jcarpent Apr 25, 2020
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1 change: 1 addition & 0 deletions bindings/python/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -185,6 +185,7 @@ IF(BUILD_PYTHON_INTERFACE)
base_visualizer.py
gepetto_visualizer.py
meshcat_visualizer.py
panda3d_visualizer.py
)

FOREACH(python ${PYTHON_VISUALIZE_FILES})
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1 change: 1 addition & 0 deletions bindings/python/pinocchio/visualize/__init__.py
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Expand Up @@ -2,3 +2,4 @@
from .base_visualizer import BaseVisualizer
from .gepetto_visualizer import GepettoVisualizer
from .meshcat_visualizer import MeshcatVisualizer
from .panda3d_visualizer import Panda3dVisualizer
8 changes: 3 additions & 5 deletions bindings/python/pinocchio/visualize/panda3d_visualizer.py
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Expand Up @@ -10,11 +10,6 @@
except ImportError:
WITH_HPP_FCL_BINDINGS = False

from panda3d_viewer import Viewer as Panda3dViewer, ViewerClosedError

__all__ = ['Panda3dVisualizer', 'Panda3dViewer', 'ViewerClosedError']


class Panda3dVisualizer(BaseVisualizer):
"""
A Pinocchio display using panda3d engine.
Expand All @@ -28,6 +23,7 @@ def initViewer(self, viewer=None, load_model=False): # pylint: disable=arguments
self.display_collisions = False
self.viewer = viewer

from panda3d_viewer import Viewer as Panda3dViewer
if viewer is None:
self.viewer = Panda3dViewer(window_title="python-pinocchio")

Expand Down Expand Up @@ -121,3 +117,5 @@ def displayVisuals(self, visibility):
"""Set whether to display visual objects or not."""
self.viewer.show_group(self.visual_group, visibility)
self.display_visuals = visibility

__all__ = ['Panda3dVisualizer']
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@cmastalli cmastalli Apr 28, 2020 •
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@jcarpent removing Panda3dViewer from __all__ breaks the examples written in Pinocchio.

I am not familiar with the code, but it seems we need to put back the previous __all___ definition.

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@cmastalli @ikalevatykh The changes are relevant, as panda3d_viewer may not be available. Then, you cannot import the lib, otherwise, you will get an error.

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@ikalevatykh ikalevatykh Apr 29, 2020 •
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@jcarpent Original variant was also OK as panda3d_visualize was not imported in visualize. _import_. Just to clarify

4 changes: 2 additions & 2 deletions examples/panda3d-viewer-play.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@
# pip install --user panda3d_viewer

import pinocchio as pin
pin.switchToNumpyMatrix()
import numpy as np
import sys

Expand All @@ -18,6 +17,7 @@
from pinocchio.visualize.panda3d_visualizer import Panda3dVisualizer, ViewerClosedError

talos = loadTalos()
nq = talos.model.nq
talos.setVisualizer(Panda3dVisualizer())
talos.initViewer()
talos.loadViewerModel(group_name='talos', color=(1, 1, 1, 1))
Expand All @@ -27,7 +27,7 @@
def play_sample_trajectory():
update_rate = 60
cycle_time = 3
traj = np.repeat(talos.q0, cycle_time * update_rate, axis=1)
traj = np.repeat(talos.q0.reshape((nq,1)), cycle_time * update_rate, axis=1)
beta = np.linspace(0, 1, traj.shape[1])
traj[[2, 9, 10, 11, 22, 15, 16, 17, 30]] = (
0.39 + 0.685 * np.cos(beta),
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